--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// Intel License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2009, Intel Corporation and others, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of Intel Corporation may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "_cv.h"
+
+// cvCorrectMatches function is Copyright (C) 2009, Jostein Austvik Jacobsen.
+// cvTriangulatePoints function is derived from icvReconstructPointsFor3View, originally by Valery Mosyagin.
+
+// HZ, R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge Univ. Press, 2003.
+
+
+
+// This method is the same as icvReconstructPointsFor3View, with only a few numbers adjusted for two-view geometry
+CV_IMPL void
+cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMat* projPoints2, CvMat* points4D)
+{
+ CV_FUNCNAME( "cvTriangulatePoints" );
+ __BEGIN__;
+
+ if( projMatr1 == 0 || projMatr2 == 0 ||
+ projPoints1 == 0 || projPoints2 == 0 ||
+ points4D == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(projMatr1) || !CV_IS_MAT(projMatr2) ||
+ !CV_IS_MAT(projPoints1) || !CV_IS_MAT(projPoints2) ||
+ !CV_IS_MAT(points4D) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be matrices" );
+ }
+
+ int numPoints;
+ numPoints = projPoints1->cols;
+
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );
+ }
+
+ if( projPoints2->cols != numPoints || points4D->cols != numPoints )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same" );
+ }
+
+ if( projPoints1->rows != 2 || projPoints2->rows != 2)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of proj points coordinates must be == 2" );
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of world points coordinates must be == 4" );
+ }
+
+ if( projMatr1->cols != 4 || projMatr1->rows != 3 ||
+ projMatr2->cols != 4 || projMatr2->rows != 3)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" );
+ }
+
+ CvMat matrA;
+ double matrA_dat[24];
+ matrA = cvMat(6,4,CV_64F,matrA_dat);
+
+ //CvMat matrU;
+ CvMat matrW;
+ CvMat matrV;
+ //double matrU_dat[9*9];
+ double matrW_dat[6*4];
+ double matrV_dat[4*4];
+
+ //matrU = cvMat(6,6,CV_64F,matrU_dat);
+ matrW = cvMat(6,4,CV_64F,matrW_dat);
+ matrV = cvMat(4,4,CV_64F,matrV_dat);
+
+ CvMat* projPoints[2];
+ CvMat* projMatrs[2];
+
+ projPoints[0] = projPoints1;
+ projPoints[1] = projPoints2;
+
+ projMatrs[0] = projMatr1;
+ projMatrs[1] = projMatr2;
+
+ /* Solve system for each point */
+ int i,j;
+ for( i = 0; i < numPoints; i++ )/* For each point */
+ {
+ /* Fill matrix for current point */
+ for( j = 0; j < 2; j++ )/* For each view */
+ {
+ double x,y;
+ x = cvmGet(projPoints[j],0,i);
+ y = cvmGet(projPoints[j],1,i);
+ for( int k = 0; k < 4; k++ )
+ {
+ cvmSet(&matrA, j*3+0, k, x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k) );
+ cvmSet(&matrA, j*3+1, k, y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k) );
+ cvmSet(&matrA, j*3+2, k, x * cvmGet(projMatrs[j],1,k) - y * cvmGet(projMatrs[j],0,k) );
+ }
+ }
+ /* Solve system for current point */
+ {
+ cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
+
+ /* Copy computed point */
+ cvmSet(points4D,0,i,cvmGet(&matrV,3,0));/* X */
+ cvmSet(points4D,1,i,cvmGet(&matrV,3,1));/* Y */
+ cvmSet(points4D,2,i,cvmGet(&matrV,3,2));/* Z */
+ cvmSet(points4D,3,i,cvmGet(&matrV,3,3));/* W */
+ }
+ }
+
+ /* Points was reconstructed. Try to reproject points */
+ /* We can compute reprojection error if need */
+ {
+ int i;
+ CvMat point3D;
+ double point3D_dat[4];
+ point3D = cvMat(4,1,CV_64F,point3D_dat);
+
+ CvMat point2D;
+ double point2D_dat[3];
+ point2D = cvMat(3,1,CV_64F,point2D_dat);
+
+ for( i = 0; i < numPoints; i++ )
+ {
+ double W = cvmGet(points4D,3,i);
+
+ point3D_dat[0] = cvmGet(points4D,0,i)/W;
+ point3D_dat[1] = cvmGet(points4D,1,i)/W;
+ point3D_dat[2] = cvmGet(points4D,2,i)/W;
+ point3D_dat[3] = 1;
+
+ /* !!! Project this point for each camera */
+ for( int currCamera = 0; currCamera < 2; currCamera++ )
+ {
+ cvmMul(projMatrs[currCamera], &point3D, &point2D);
+
+ float x,y;
+ float xr,yr,wr;
+ x = (float)cvmGet(projPoints[currCamera],0,i);
+ y = (float)cvmGet(projPoints[currCamera],1,i);
+
+ wr = (float)point2D_dat[2];
+ xr = (float)(point2D_dat[0]/wr);
+ yr = (float)(point2D_dat[1]/wr);
+
+ float deltaX,deltaY;
+ deltaX = (float)fabs(x-xr);
+ deltaY = (float)fabs(y-yr);
+ }
+ }
+ }
+
+ __END__;
+ return;
+}
+
+
+static void writePoint( double x, double y, CvMat* ptvec, int p )
+{
+ uchar* ptr = ptvec->data.ptr;
+ int depth = CV_MAT_DEPTH(ptvec->type);
+ switch (depth) {
+ case CV_64F:
+ ((double*)ptr)[p*2] = x;
+ ((double*)ptr)[p*2+1] = y;
+ break;
+ case CV_32F:
+ ((float*)ptr)[p*2] = (float)x;
+ ((float*)ptr)[p*2+1] = (float)y;
+ break;
+ case CV_32S:
+ ((int*)ptr)[p*2] = cv::saturate_cast<int>(x);
+ ((int*)ptr)[p*2+1] = cv::saturate_cast<int>(y);
+ break;
+ case CV_16U:
+ ((ushort*)ptr)[p*2] = cv::saturate_cast<ushort>(x);
+ ((ushort*)ptr)[p*2+1] = cv::saturate_cast<ushort>(y);
+ break;
+ case CV_16S:
+ ((short*)ptr)[p*2] = cv::saturate_cast<short>(x);
+ ((short*)ptr)[p*2+1] = cv::saturate_cast<short>(y);
+ break;
+ case CV_8S:
+ ((schar*)ptr)[p*2] = cv::saturate_cast<schar>(x);
+ ((schar*)ptr)[p*2+1] = cv::saturate_cast<schar>(y);
+ break;
+ case CV_8U:
+ ((uchar*)ptr)[p*2] = cv::saturate_cast<uchar>(x);
+ ((uchar*)ptr)[p*2+1] = cv::saturate_cast<uchar>(y);
+ break;
+ default:
+ CV_Error(CV_StsUnsupportedFormat, "");
+ }
+}
+
+/*
+ * The Optimal Triangulation Method (see HZ for details)
+ * For each given point correspondence points1[i] <-> points2[i], and a fundamental matrix F,
+ * computes the corrected correspondences new_points1[i] <-> new_points2[i] that minimize the
+ * geometric error d(points1[i],new_points1[i])^2 + d(points2[i],new_points2[i])^2 (where d(a,b)
+ * is the geometric distance between points a and b) subject to the epipolar constraint
+ * new_points2' * F * new_points1 = 0.
+ *
+ * F_ : 3x3 fundamental matrix
+ * points1_ : 2xN matrix containing the first set of points
+ * points2_ : 2xN matrix containing the second set of points
+ * new_points1 : the optimized points1_. if this is NULL, the corrected points are placed back in points1_
+ * new_points2 : the optimized points2_. if this is NULL, the corrected points are placed back in points2_
+ */
+CV_IMPL void
+cvCorrectMatches(CvMat *F_, CvMat *points1_, CvMat *points2_, CvMat *new_points1, CvMat *new_points2) {
+ CvMat *tmp33 = NULL;
+ CvMat *tmp31 = NULL, *tmp31_2 = NULL;
+ CvMat *T1i = NULL, *T2i = NULL;
+ CvMat *R1 = NULL, *R2 = NULL;
+ CvMat *TFT = NULL, *TFTt = NULL, *RTFTR = NULL;
+ CvMat *U = NULL, *S = NULL, *V = NULL;
+ CvMat *e1 = NULL, *e2 = NULL;
+ CvMat *polynomial = NULL;
+ CvMat *result = NULL;
+ CvMat *points1 = NULL, *points2 = NULL;
+ CvMat *F = NULL;
+ int F_type = -1, p1_type = -1, p2_type = -1, np1_type = -1, np2_type = -1;
+
+ CV_FUNCNAME( "cvCorrectMatches" );
+ __BEGIN__;
+
+ if (!CV_IS_MAT(F_) || !CV_IS_MAT(points1_) || !CV_IS_MAT(points2_) )
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be matrices" );
+ if (!( F_->cols == 3 && F_->rows == 3))
+ CV_ERROR( CV_StsUnmatchedSizes, "The fundamental matrix must be a 3x3 matrix");
+ if (!(((F_->type & CV_MAT_TYPE_MASK) >> 3) == 0 ))
+ CV_ERROR( CV_StsUnsupportedFormat, "The fundamental matrix must be a single-channel matrix" );
+ if (!(points1_->rows == 1 && points2_->rows == 1 && points1_->cols == points2_->cols))
+ CV_ERROR( CV_StsUnmatchedSizes, "The point-matrices must have two rows, and an equal number of columns" );
+ if (((points1_->type & CV_MAT_TYPE_MASK) >> 3) != 1 )
+ CV_ERROR( CV_StsUnmatchedSizes, "The first set of points must contain two channels; one for x and one for y" );
+ if (((points2_->type & CV_MAT_TYPE_MASK) >> 3) != 1 )
+ CV_ERROR( CV_StsUnmatchedSizes, "The second set of points must contain two channels; one for x and one for y" );
+ if (new_points1 != NULL && CV_IS_MAT(new_points1)) {
+ if (new_points1->cols != points1_->cols || new_points1->rows != 1)
+ CV_ERROR( CV_StsUnmatchedSizes, "The first output matrix must have the same dimensions as the input matrices" );
+ if (((new_points1->type & CV_MAT_TYPE_MASK) >> 3) != 1)
+ CV_ERROR( CV_StsUnsupportedFormat, "The first output matrix must have two channels; one for x and one for y" );
+ }
+ if (new_points2 != NULL && CV_IS_MAT(new_points2)) {
+ if (new_points2->cols != points2_->cols || new_points2->rows != 1)
+ CV_ERROR( CV_StsUnmatchedSizes, "The second output matrix must have the same dimensions as the input matrices" );
+ if (((new_points2->type & CV_MAT_TYPE_MASK) >> 3) != 1)
+ CV_ERROR( CV_StsUnsupportedFormat, "The second output matrix must have two channels; one for x and one for y" );
+ }
+
+ // Make sure F uses double precision
+ F_type = ((F_->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
+ if (F_type != 6) {
+ F = cvCreateMat(3,3,CV_64FC1);
+ switch (F_type) {
+ case 5: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.fl[i]; break;
+ case 4: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.i[i]; break;
+ case 3:
+ case 2: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.s[i]; break;
+ case 1:
+ case 0: for (int i = 0; i < 9; ++i) F->data.db[i] = F_->data.ptr[i]; break;
+ }
+ }
+ else F = F_;
+
+ // Make sure points1 uses double precision
+ p1_type = ((points1_->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
+ points1 = points1_;
+ if (p1_type != 6) {
+ points1 = cvCreateMat(1,points1_->cols,CV_64FC2);
+ switch (p1_type) {
+ case 5: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.fl[i]; break;
+ case 4: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.i[i]; break;
+ case 3:
+ case 2: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.s[i]; break;
+ case 1:
+ case 0: for (int i = 0; i < 2*points1_->cols; ++i) points1->data.db[i] = points1_->data.ptr[i]; break;
+ }
+ }
+
+ // Make sure points2 uses double precision
+ p2_type = ((points2_->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
+ points2 = points2_;
+ if (p2_type != 6) {
+ points2 = cvCreateMat(1,points2_->cols,CV_64FC2);
+ switch (p2_type) {
+ case 5: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.fl[i]; break;
+ case 4: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.i[i]; break;
+ case 3:
+ case 2: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.s[i]; break;
+ case 1:
+ case 0: for (int i = 0; i < 2*points2_->cols; ++i) points2->data.db[i] = points2_->data.ptr[i]; break;
+ }
+ }
+
+ tmp33 = cvCreateMat(3,3,CV_64FC1);
+ tmp31 = cvCreateMat(3,1,CV_64FC1), tmp31_2 = cvCreateMat(3,1,CV_64FC1);
+ T1i = cvCreateMat(3,3,CV_64FC1), T2i = cvCreateMat(3,3,CV_64FC1);
+ R1 = cvCreateMat(3,3,CV_64FC1), R2 = cvCreateMat(3,3,CV_64FC1);
+ TFT = cvCreateMat(3,3,CV_64FC1), TFTt = cvCreateMat(3,3,CV_64FC1), RTFTR = cvCreateMat(3,3,CV_64FC1);
+ U = cvCreateMat(3,3,CV_64FC1);
+ S = cvCreateMat(3,3,CV_64FC1);
+ V = cvCreateMat(3,3,CV_64FC1);
+ e1 = cvCreateMat(3,1,CV_64FC1), e2 = cvCreateMat(3,1,CV_64FC1);
+ if (new_points1 != NULL) np1_type = ((new_points1->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
+ if (new_points2 != NULL) np2_type = ((new_points2->type & CV_MAT_TYPE_MASK) & 0x07); // 0b111
+
+ double x1, y1, x2, y2;
+ double scale;
+ double f1, f2, a, b, c, d;
+ polynomial = cvCreateMat(1,7,CV_64FC1);
+ result = cvCreateMat(1,6,CV_64FC2);
+ double t_min, s_val, t, s;
+ for (int p = 0; p < points1->cols; ++p) {
+ // Replace F by T2-t * F * T1-t
+ x1 = points1->data.db[p*2];
+ y1 = points1->data.db[p*2+1];
+ x2 = points2->data.db[p*2];
+ y2 = points2->data.db[p*2+1];
+
+ cvSetZero(T1i);
+ cvSetReal2D(T1i,0,0,1);
+ cvSetReal2D(T1i,1,1,1);
+ cvSetReal2D(T1i,2,2,1);
+ cvSetReal2D(T1i,0,2,x1);
+ cvSetReal2D(T1i,1,2,y1);
+ cvSetZero(T2i);
+ cvSetReal2D(T2i,0,0,1);
+ cvSetReal2D(T2i,1,1,1);
+ cvSetReal2D(T2i,2,2,1);
+ cvSetReal2D(T2i,0,2,x2);
+ cvSetReal2D(T2i,1,2,y2);
+ cvGEMM(T2i,F,1,0,0,tmp33,CV_GEMM_A_T);
+ cvSetZero(TFT);
+ cvGEMM(tmp33,T1i,1,0,0,TFT);
+
+ // Compute the right epipole e1 from F * e1 = 0
+ cvSetZero(U);
+ cvSetZero(S);
+ cvSetZero(V);
+ cvSVD(TFT,S,U,V);
+ scale = sqrt(cvGetReal2D(V,0,2)*cvGetReal2D(V,0,2) + cvGetReal2D(V,1,2)*cvGetReal2D(V,1,2));
+ cvSetReal2D(e1,0,0,cvGetReal2D(V,0,2)/scale);
+ cvSetReal2D(e1,1,0,cvGetReal2D(V,1,2)/scale);
+ cvSetReal2D(e1,2,0,cvGetReal2D(V,2,2)/scale);
+ if (cvGetReal2D(e1,2,0) < 0) {
+ cvSetReal2D(e1,0,0,-cvGetReal2D(e1,0,0));
+ cvSetReal2D(e1,1,0,-cvGetReal2D(e1,1,0));
+ cvSetReal2D(e1,2,0,-cvGetReal2D(e1,2,0));
+ }
+
+ // Compute the left epipole e2 from e2' * F = 0 => F' * e2 = 0
+ cvSetZero(TFTt);
+ cvTranspose(TFT, TFTt);
+ cvSetZero(U);
+ cvSetZero(S);
+ cvSetZero(V);
+ cvSVD(TFTt,S,U,V);
+ cvSetZero(e2);
+ scale = sqrt(cvGetReal2D(V,0,2)*cvGetReal2D(V,0,2) + cvGetReal2D(V,1,2)*cvGetReal2D(V,1,2));
+ cvSetReal2D(e2,0,0,cvGetReal2D(V,0,2)/scale);
+ cvSetReal2D(e2,1,0,cvGetReal2D(V,1,2)/scale);
+ cvSetReal2D(e2,2,0,cvGetReal2D(V,2,2)/scale);
+ if (cvGetReal2D(e2,2,0) < 0) {
+ cvSetReal2D(e2,0,0,-cvGetReal2D(e2,0,0));
+ cvSetReal2D(e2,1,0,-cvGetReal2D(e2,1,0));
+ cvSetReal2D(e2,2,0,-cvGetReal2D(e2,2,0));
+ }
+
+ // Replace F by R2 * F * R1'
+ cvSetZero(R1);
+ cvSetReal2D(R1,0,0,cvGetReal2D(e1,0,0));
+ cvSetReal2D(R1,0,1,cvGetReal2D(e1,1,0));
+ cvSetReal2D(R1,1,0,-cvGetReal2D(e1,1,0));
+ cvSetReal2D(R1,1,1,cvGetReal2D(e1,0,0));
+ cvSetReal2D(R1,2,2,1);
+ cvSetZero(R2);
+ cvSetReal2D(R2,0,0,cvGetReal2D(e2,0,0));
+ cvSetReal2D(R2,0,1,cvGetReal2D(e2,1,0));
+ cvSetReal2D(R2,1,0,-cvGetReal2D(e2,1,0));
+ cvSetReal2D(R2,1,1,cvGetReal2D(e2,0,0));
+ cvSetReal2D(R2,2,2,1);
+ cvGEMM(R2,TFT,1,0,0,tmp33);
+ cvGEMM(tmp33,R1,1,0,0,RTFTR,CV_GEMM_B_T);
+
+ // Set f1 = e1(3), f2 = e2(3), a = F22, b = F23, c = F32, d = F33
+ f1 = cvGetReal2D(e1,2,0);
+ f2 = cvGetReal2D(e2,2,0);
+ a = cvGetReal2D(RTFTR,1,1);
+ b = cvGetReal2D(RTFTR,1,2);
+ c = cvGetReal2D(RTFTR,2,1);
+ d = cvGetReal2D(RTFTR,2,2);
+
+ // Form the polynomial g(t) = k6*t⁶ + k5*t⁵ + k4*t⁴ + k3*t³ + k2*t² + k1*t + k0
+ // from f1, f2, a, b, c and d
+ cvSetReal2D(polynomial,0,6,( +b*c*c*f1*f1*f1*f1*a-a*a*d*f1*f1*f1*f1*c ));
+ cvSetReal2D(polynomial,0,5,( +f2*f2*f2*f2*c*c*c*c+2*a*a*f2*f2*c*c-a*a*d*d*f1*f1*f1*f1+b*b*c*c*f1*f1*f1*f1+a*a*a*a ));
+ cvSetReal2D(polynomial,0,4,( +4*a*a*a*b+2*b*c*c*f1*f1*a+4*f2*f2*f2*f2*c*c*c*d+4*a*b*f2*f2*c*c+4*a*a*f2*f2*c*d-2*a*a*d*f1*f1*c-a*d*d*f1*f1*f1*f1*b+b*b*c*f1*f1*f1*f1*d ));
+ cvSetReal2D(polynomial,0,3,( +6*a*a*b*b+6*f2*f2*f2*f2*c*c*d*d+2*b*b*f2*f2*c*c+2*a*a*f2*f2*d*d-2*a*a*d*d*f1*f1+2*b*b*c*c*f1*f1+8*a*b*f2*f2*c*d ));
+ cvSetReal2D(polynomial,0,2,( +4*a*b*b*b+4*b*b*f2*f2*c*d+4*f2*f2*f2*f2*c*d*d*d-a*a*d*c+b*c*c*a+4*a*b*f2*f2*d*d-2*a*d*d*f1*f1*b+2*b*b*c*f1*f1*d ));
+ cvSetReal2D(polynomial,0,1,( +f2*f2*f2*f2*d*d*d*d+b*b*b*b+2*b*b*f2*f2*d*d-a*a*d*d+b*b*c*c ));
+ cvSetReal2D(polynomial,0,0,( -a*d*d*b+b*b*c*d ));
+
+ // Solve g(t) for t to get 6 roots
+ cvSetZero(result);
+ cvSolvePoly(polynomial, result, 100, 20);
+
+ // Evaluate the cost function s(t) at the real part of the 6 roots
+ t_min = DBL_MAX;
+ s_val = 1./(f1*f1) + (c*c)/(a*a+f2*f2*c*c);
+ for (int ti = 0; ti < 6; ++ti) {
+ t = result->data.db[2*ti];
+ s = (t*t)/(1 + f1*f1*t*t) + ((c*t + d)*(c*t + d))/((a*t + b)*(a*t + b) + f2*f2*(c*t + d)*(c*t + d));
+ if (s < s_val) {
+ s_val = s;
+ t_min = t;
+ }
+ }
+
+ // find the optimal x1 and y1 as the points on l1 and l2 closest to the origin
+ tmp31->data.db[0] = t_min*t_min*f1;
+ tmp31->data.db[1] = t_min;
+ tmp31->data.db[2] = t_min*t_min*f1*f1+1;
+ tmp31->data.db[0] /= tmp31->data.db[2];
+ tmp31->data.db[1] /= tmp31->data.db[2];
+ tmp31->data.db[2] /= tmp31->data.db[2];
+ cvGEMM(T1i,R1,1,0,0,tmp33,CV_GEMM_B_T);
+ cvGEMM(tmp33,tmp31,1,0,0,tmp31_2);
+ x1 = tmp31_2->data.db[0];
+ y1 = tmp31_2->data.db[1];
+
+ tmp31->data.db[0] = f2*pow(c*t_min+d,2);
+ tmp31->data.db[1] = -(a*t_min+b)*(c*t_min+d);
+ tmp31->data.db[2] = f2*f2*pow(c*t_min+d,2) + pow(a*t_min+b,2);
+ tmp31->data.db[0] /= tmp31->data.db[2];
+ tmp31->data.db[1] /= tmp31->data.db[2];
+ tmp31->data.db[2] /= tmp31->data.db[2];
+ cvGEMM(T2i,R2,1,0,0,tmp33,CV_GEMM_B_T);
+ cvGEMM(tmp33,tmp31,1,0,0,tmp31_2);
+ x2 = tmp31_2->data.db[0];
+ y2 = tmp31_2->data.db[1];
+
+ // Return the points in the matrix format that the user wants
+ writePoint(x1, y1, new_points1 ? new_points1 : points1_, p);
+ writePoint(x2, y2, new_points2 ? new_points2 : points2_, p);
+ }
+
+ cvReleaseMat(&e1);
+ cvReleaseMat(&e2);
+ cvReleaseMat(&T1i);
+ cvReleaseMat(&T2i);
+ cvReleaseMat(&R1);
+ cvReleaseMat(&R2);
+ cvReleaseMat(&TFT);
+ cvReleaseMat(&TFTt);
+ cvReleaseMat(&RTFTR);
+ cvReleaseMat(&U);
+ cvReleaseMat(&S);
+ cvReleaseMat(&V);
+ cvReleaseMat(&tmp33);
+ cvReleaseMat(&tmp31);
+ cvReleaseMat(&tmp31_2);
+
+ // release only if we created new ones with higher precision
+ if (F_ != F) cvReleaseMat(&F);
+ if (points1 != points1_) cvReleaseMat(&points1);
+ if (points2 != points2_) cvReleaseMat(&points2);
+
+ __END__;
+}
projects / opencv / blobdiff